TestPlugin.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using MissionPlanner.Plugin;
using MissionPlanner;
using System.Windows.Forms;
using System.IO;
using System.Security.Authentication;
using System.Threading.Tasks;
using MissionPlanner.Utilities;
using MQTTnet;
using MQTTnet.Client.Receiving;
using MQTTnet.Server;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;

public class TestPlugin : Plugin
{
    string _Name = "Test Plugin";
    string _Version = "0.1";
    string _Author = "Michael Oborne";
    private TelstraUTM UTM;
    private JArray UAVS;
    private string clientid = "michael";

    public override string Name
    {
        get { return _Name; }
    }

    public override string Version
    {
        get { return _Version; }
    }

    public override string Author
    {
        get { return _Author; }
    }

    public override bool Init()
    {
        loopratehz = 0.2f;
        UTM = new TelstraUTM();
        return true;
    }

    public override bool Loaded()
    {
        {
            var mqttServer = new MqttFactory().CreateMqttServer();
            var tlsoptions = new MqttServerTlsTcpEndpointOptions()
            {
                RemoteCertificateValidationCallback =
                    (sender, certificate, chain, errors) => { return true; },
                SslProtocol = SslProtocols.Tls12,
                CheckCertificateRevocation = false, 
                ClientCertificateRequired = true,
                Certificate = new byte[0]
            };

            var options = new MqttServerOptionsBuilder()
                //.WithEncryptedEndpointPort(1883)
                //.WithEncryptionSslProtocol(SslProtocols.Tls12)
                //.WithRemoteCertificateValidationCallback((sender, certificate, chain, errors) => { return true; })
                .Build();

            //options.TlsEndpointOptions.ClientCertificateRequired = true;
            //options.TlsEndpointOptions.CheckCertificateRevocation = false;

            mqttServer.StartAsync(options);
            mqttServer.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(e =>
            {
                Console.WriteLine("### RECEIVED APPLICATION MESSAGE ###");
                Console.WriteLine($"+ Topic = {e.ApplicationMessage.Topic}");
                Console.WriteLine($"+ Payload = {Encoding.UTF8.GetString(e.ApplicationMessage.Payload)}");
                Console.WriteLine($"+ QoS = {e.ApplicationMessage.QualityOfServiceLevel}");
                Console.WriteLine($"+ Retain = {e.ApplicationMessage.Retain}");
                Console.WriteLine();
            });

            mqttServer.ClientConnectedHandler = new MqttServerClientConnectedHandlerDelegate(a =>
            {
                Console.WriteLine("### CLIENT CONNECTED ###");
                Console.WriteLine(a.ClientId);
            });
        }


        Task.Run(() => {
            try
            {
           //     UTM.confighardware("com8");
            }
            catch (Exception e)
            {
                Console.WriteLine(e);
          
            }

            Console.ForegroundColor = ConsoleColor.White;
        });

        //UTM.test();
        /*
        UTM.StartMQTT(clientid, @"C:\Users\michael\Desktop\Hex\laam-mqtt-control\Hardware\pi_zero\certs\ca.crt",
            @"C:\Users\michael\Desktop\Hex\laam-mqtt-control\Hardware\pi_zero\certs\client.crt",
            @"C:\Users\michael\Desktop\Hex\laam-mqtt-control\Hardware\pi_zero\certs\client.key");
            */
        if (UTM.MQTTClient != null)
            UTM.MQTTClient.ApplicationMessageReceivedHandler = new MqttApplicationMessageReceivedHandlerDelegate(e =>
            {
                Console.WriteLine("### RECEIVED APPLICATION MESSAGE ###");
                Console.WriteLine($"+ Topic = {e.ApplicationMessage.Topic}");
                Console.WriteLine($"+ Payload = {Encoding.UTF8.GetString(e.ApplicationMessage.Payload)}");
                Console.WriteLine($"+ QoS = {e.ApplicationMessage.QualityOfServiceLevel}");
                Console.WriteLine($"+ Retain = {e.ApplicationMessage.Retain}");

                var json = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);

                var obj = JsonConvert.DeserializeObject<JObject>(json);

                var item = obj?["telemetry"]?["altitude"];
            });

        return true;
    }

    public override bool Loop()
    {
        UTM.Telemetry(clientid);
        return true;
    }


    public override bool Exit()
    {
        return true;
    }
}